CN109389648B - Method for reducing measurement data error through data iteration - Google Patents
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Abstract
The invention discloses a method for reducing measurement data errors through data iteration, which comprises the following steps: 1) firstly, measuring the distance between a fixed point A and a target mark point B by using binocular ranging equipment through a parallax ranging method, and obtaining a depth map, wherein a central point C of the binocular ranging equipment is coplanar with the fixed point A, and the distance value between the central point C and the fixed point A is fixed; 2) shooting standard parts with various thicknesses through the binocular ranging equipment to obtain test depth maps, and establishing thickness values D according to all the test depth mapskCoordinate (i) in depth map with fixed point Ak，jk) The gradient comparison table of (1); 3) and then shooting a target by using the binocular ranging equipment, obtaining a target depth map, and carrying out multiple iterations according to the established gradient comparison table to obtain an accurate thickness value. The algorithm of the invention can be used for reducing errors, and more accurate thickness values can be obtained by taking a pre-established standard gradient comparison table as a reference and a multi-iteration method.
Description
Technical Field
The invention belongs to the technical field of X-ray imaging, and particularly relates to a method for reducing measurement data errors through data iteration.
Background
In the prior art, binocular ranging equipment is often adopted to measure the distance of a fixed target, and the distance is calculated by a parallax method, wherein the main process comprises camera calibration, binocular correction, binocular matching and depth information calculation. Firstly, the camera has radial distortion of an image due to the characteristics of an optical lens, and can be determined by three parameters k1, k2 and k 3; due to assembly errors, the sensor and the optical lens are not completely parallel, so that imaging has tangential distortion, which can be determined by two parameters p1 and p 2. The calibration of a single camera mainly comprises the calculation of internal parameters (focal length f and imaging original points cX, cy, five distortion parameters (generally only k1, k2, p1 and p2 need to be calculated, and k3 needs to be calculated only when the radial distortion of a fisheye lens is particularly large)) and external parameters (world coordinates of a calibration object). The calibration of the binocular camera needs not only to obtain internal parameters of each camera, but also to measure the relative position between the two cameras (i.e. the rotation matrix R and the translation vector t of the right camera relative to the left camera) through calibration.
The binocular correction is to respectively eliminate distortion and align lines of the left view and the right view according to monocular internal reference data (focal length, imaging origin, distortion coefficient) and binocular relative position relationship (rotation matrix and translation vector) obtained after the cameras are calibrated, so that the imaging origin coordinates of the left view and the right view are consistent, the optical axes of the two cameras are parallel, the left imaging plane and the right imaging plane are coplanar, and the epipolar lines are aligned. Therefore, any point on one image and the corresponding point on the other image have the same line number, and the corresponding point can be matched only by one-dimensional search on the line. The binocular matching is used for matching corresponding image points of the same scene on left and right views, and the purpose of the binocular matching is to obtain a disparity map. And obtaining parallax data, and finally calculating a vertical distance map from a real object to a plane where the optical centers of the left camera and the right camera are located by epipolar geometry, wherein the vertical distance map is called a depth map.
Most of the calculation process and data processing process in the technology can be directly realized by opencv software, and the technology is mainly applied to some specific scenes at present. In some use scenarios, the device is used to assist in measuring the distance value of other devices so as to assist the other devices in adjusting the distance to operate normally. The use scene is generally that the binocular ranging device is separately arranged on one side of other devices and needs to be coplanar with the fixed end point to be measured, so that the vertical distance between the plane where the target point is located and the fixed end point to be measured is detected. However, in such a usage scenario, the binocular ranging apparatus generally detects depth information of a point where a center point of the binocular ranging apparatus is vertically projected in a depth map, and although the center point of the binocular ranging apparatus is coplanar with a fixed end point to be measured, a certain distance is provided between the center point of the binocular ranging apparatus and the fixed end point to be measured, so that coordinates of points where two end points vertically correspond in the same depth map are inconsistent, and thus depth information is inconsistent and an error exists.
Disclosure of Invention
In order to solve the problem that in the prior art, when binocular ranging equipment is adopted for assisting ranging, the distance information between a measured end point and a target point cannot be accurately measured due to the fact that a certain distance exists between the measured fixed end point and the measured fixed end point, the invention provides a method capable of reducing measured data errors through a data iteration method.
The technical scheme adopted by the invention is as follows: a method for reducing measurement data errors through data iteration, comprising the steps of:
s1, firstly, measuring the distance between a fixed point A and a target mark point B by using binocular ranging equipment through a parallax ranging method, and obtaining a depth map, wherein a central point C of the binocular ranging equipment is coplanar with the fixed point A, and the distance value between the central point C and the fixed point A is fixed;
s2, shooting standard parts with various thicknesses through the binocular ranging equipment to obtain test depth maps, and establishing thickness values D according to all the test depth mapskCoordinate (i) in depth map with fixed point Ak，jk) The gradient comparison table of (1);
s3, shooting a target by using the binocular distance measuring equipment, obtaining a target depth map, and obtaining a thickness value D of the fixed point AkCorresponding coordinate (i) in the depth map at 00，j0) And taking the initial point as the point of the measurement, and performing multiple iterations according to the established gradient comparison table to obtain an accurate thickness value.
The method is applied to the distance measurement of the binocular distance measurement equipment and can reduce errors through an effective iterative algorithm, and the distance measurement principle of the whole binocular distance measurement equipment is as follows: the binocular distance measuring equipment is a device capable of acquiring depth information, the device is provided with a left camera and a right camera, focal lengths, distortion coefficients and the like of the two cameras can be obtained through accurate calibration, so that internal parameters are called, and relative rotation, displacement and the like between the two cameras are called as external parameters. After distortion correction, rotating the lens and other correction processes, the image pictures of the two cameras are finally on the same plane, and radial distortion is eliminated, so that the pictures are standard rectangles. The left camera and the right camera shoot the same object to obtain a left image and a right image, the two obtained images have slight difference due to position difference between the two cameras, after matching, the same points of the real object in the left image and the right image can be in one-to-one correspondence to obtain a new image, the value of each pixel in the image represents the distance from the point in the left image to the corresponding point in the right image, the distance is called parallax, and the new image is called a parallax map. The parallax map and the previously obtained camera intrinsic parameters can calculate a vertical distance map from a real object to a plane where the optical centers of the left camera and the right camera are located through epipolar geometry, and the vertical distance map is called as a depth map.
That is, the vertical distances from all the pixels in the depth map to the plane of the lens of the binocular ranging apparatus can be obtained by the binocular ranging apparatus. According to the principle, the method aims to solve the point position drift error caused by the distance between the binocular ranging equipment and the measured fixed point A, so that the coordinates of the approximate point close to the target point in the depth map are found through a multi-iteration algorithm, and the corresponding thickness value of the approximate point in the depth map is the optimized accurate thickness value because the height change around the measured target point is smooth. It should be noted that the thickness value is distance information corresponding to each pixel point in the depth map, that is, a vertical distance between the pixel point and a plane where the lens of the binocular ranging apparatus is located. The basis of multiple iterations is that multiple depth maps are obtained by shooting standard parts with different thicknesses before testing, so that a relation list of target point coordinates and corresponding depth values of the fixed point A in the depth maps with different thicknesses is obtained.
It should be noted that the same equipment is used for the test and the actual detection, and the distance between the center of the binocular ranging equipment and the fixed point a is a constant value, so that the established gradient comparison table has reference significance.
The binocular distance measuring equipment is double-camera equipment, a processor and a memory are arranged in the binocular distance measuring equipment, a calculation algorithm is preset, and a depth map can be directly obtained through shooting. And the central point C is the midpoint of a connecting line of the centers of the two coplanar camera lenses.
Further, the specific steps of step S3 are as follows:
(3.1) first, when the thickness value of the target is 0, determining the corresponding coordinate (i) of the fixed point A on the depth map where the target is located0，j0) The coordinates (i)0，j0) Namely the projection point of the fixed point A on the background plate surface;
(3.2) obtaining the coordinates (i)0，j0) Finding the corresponding thickness value D in the target depth map1，
(3.2) again according to the thickness value D1Find the corresponding target point coordinate (i) in the gradient lookup table1，j1) At this time, recording as one iteration;
(3.3) find the coordinate (i) in the depth map1，j1) Corresponding thickness value D2；
(3.4) then according to the thickness value D2Find the corresponding target point coordinate (i) in the gradient lookup table2，j2) Recording as a second iteration;
(3.5) repeating the above iterative method until said D is reachednAnd Dn-1D is set when the corresponding coordinate space is smaller than the preset error valuenThis time is noted as n iterations as the exact thickness value. Wherein n is a natural number.
Further, the specific steps of step S2 are as follows:
(2.1) firstly, preparing a plurality of right cylinders with equal base surface radius and equally-changed thickness as standard parts;
(2.2) fixing each right cylinder at the same position with any circular surface as the bottom, shooting a depth map of each right cylinder by using binocular ranging equipment, wherein the connecting line of the circle center of the upper circular surface of each right cylinder and the fixed point A is perpendicular to the plane where two cameras of the binocular ranging equipment are located;
(2.3) finding the central point coordinates of the circular surface at the upper side of each right cylinder in the depth map of each right cylinder, and acquiring the corresponding thickness value of each central point coordinate in the depth map, thereby establishing a gradient comparison table of the corresponding central point coordinates under different thicknesses.
The method for establishing the gradient comparison table is defined as that the same distance measuring equipment is adopted firstly, the distance between the central point C and the fixed point A is fixed, and two cameras of the binocular distance measuring equipment are coplanar with the fixed point A.
And then preparing a plurality of right cylinders, wherein the right cylinders are of a uniform standard main body structure, the material of each right cylinder is the same as the radiuses of the two circular surfaces, but the thickness values (namely the height values) are arranged according to an arithmetic progression, the thickness values are sequentially increased from 0, and then the coordinates and the depth values of target points corresponding to the fixed points A of the thickness values in the depth map are obtained. The thickness difference of the right cylinder used here is controlled within a certain range, and the difference is determined according to actual requirements, namely the difference is the gradient value of the gradient comparison table. The range of the thickness value is determined according to the thickness of the measured object, and the maximum thickness value in the general gradient comparison table is larger than the thickness values of all the measured objects.
When each right cylinder is shot, each right cylinder is fixed on a background plate surface parallel to the plane where the binocular ranging equipment is located, then the right cylinders are moved to enable the vertical projection of the fixed point A to just fall at the circle center position of the upper surface of each right cylinder, shooting is started, then each right cylinder is fixed at the same position, and marks are made at the circle center position of each upper surface, information of the point can be automatically recognized and extracted from a shot depth map, and therefore efficiency is improved. Because a gap exists between the center point of the binocular ranging equipment and the fixed point A, the center point in the depth map obtained by normal shooting of the binocular ranging equipment cannot be selected as a target point, and the coordinates of the target mark points corresponding to the fixed point A in the depth map cannot be confirmed, so that the coordinate positions of the corresponding standard target mark points in the test depth map with different thicknesses can be measured in advance by the gradient contrast change, and the coordinate iterative approach in subsequent actual detection is facilitated.
It should be noted that the right cylinder is only a standard component, and the standard component includes but is not limited to all right polygonal prisms, and as long as the upper surface of the right cylinder is a plane when the right cylinder is fixed on the surface of the background plate, and is parallel to the plane where the binocular ranging apparatus is located, and is parallel to the surface of the background plate.
Further, said (i)0，j0)、(i1，j1)、(i2，j2)…(ik，jk) The projections on the background plate surface of the fixed target are collinear.
Further, the fixed point a is a cross center of a beam splitter of the X-ray imaging device.
Further, the measured accurate thickness value is used for determining a reference value of an exposure parameter of the X-ray imaging device for X-ray irradiation imaging of the target. The method is applied to the thickness measurement of the X-ray imaging equipment, and the X-ray imaging equipment needs to take the thickness value of the mark point of the actual irradiated object as a reference when the irradiation dose is adjusted, so that two parameters of the voltage and the current product of the working tube are adjusted according to the experience of an operator, the optimal irradiation image is obtained, and the problem of excessive dose can be avoided. When the X-ray examination is carried out, the target is also fixed on the movable plate, and the movable plate is moved to align the target mark point with the central point of the cross projection of the beam splitter, so that the distance measurement is started. Can be with binocular range finding equipment fixes and restraints light ware one side or integrated in restrainting the light ware, just binocular range finding equipment's camera lens surface and the X of restrainting the light ware and make a video recording the emission terminal surface coplane. The binocular distance measuring device is mainly used for calculating the distance between the X-ray generating end of the X-ray imaging module and the surface of an irradiation object. At this time, the bottom of the irradiation object is attached to the flat plate, and the distance between the beam splitter and the flat plate is a fixed value: D1. and the distance between the beam-forming device and the projection point of the cross target center of the irradiation object is D2, the real thickness value of the measuring point is H, and the calculation formula is obtained: H-D1-D2.
That is to say, the binocular distance measuring device mainly measures the distance between the beam splitter and the mark point of the irradiation object, and then sends the distance value detected in real time to the calculating unit to calculate through the formula to obtain the real thickness value.
The thickness value is the distance between the target and the beam splitter, and when the thickness value is applied to X-ray imaging equipment, the real thickness value of the target object is indirectly calculated through the thickness value.
Furthermore, the binocular distance measuring equipment is arranged in a beam light device of the X-ray imaging equipment.
Further, said DnWherein n is a natural number not greater than 2, i.e. the number of iterations does not exceed two.
Further, the distance between the central point C of the binocular distance measuring equipment and the beam light device is smaller than 1 cm.
The invention has the beneficial effects that:
(1) the algorithm can be used for reducing errors caused by the fact that distance data between measuring points cannot be accurately acquired due to the fact that any point between two end points needing distance measurement is coplanar and has a certain distance when the binocular distance measurement equipment is used for auxiliary distance measurement, the coordinate data close to a standard target point are acquired by taking a pre-established standard gradient comparison table as a reference and searching points for the table for multiple times through an actually acquired depth map, and the accuracy is controlled through a preset error value, so that a more accurate thickness value is acquired.
(2) The invention can be applied to an X-ray imaging system, does not need to add other steps, can perfectly fuse body type measurement with the original exposure flow, and has higher efficiency and lower manufacturing and using cost compared with the prior method of informing the high-voltage generator whether to continuously supply energy or not by measuring the absorption capacity of a plurality of ionization chambers positioned at different directions of the detector to X-rays; the invention has the advantages of relatively low cost of components with the function of measuring depth information, convenient maintenance, very high speed and high precision of obtaining the depth information, and can further eliminate abnormal measured values and improve the precision by an algorithm embedded into a processor.
Drawings
FIG. 1 is a schematic illustration of the invention as tested;
fig. 2 is a schematic diagram of the present invention in actual measurement.
Detailed Description
The invention is further explained below with reference to the drawings and the specific embodiments.
Example 1:
the existing binocular range finding equipment is a double-camera module which is symmetrically arranged, lenses of the double-camera module are located on the same plane, pictures are shot through the double-camera module, and the vertical distance between each pixel point on the shot pictures and the plane where the lenses are located is obtained through parallax algorithm calculation. However, a fixed point a exists outside the binocular distance measuring device, the fixed point a is coplanar with the two lenses, but a certain distance exists between the fixed point a and a middle point of a connecting line of central points of the two lenses, and if the coordinates of a corresponding vertical projection point of the fixed point a in a depth map obtained by shooting through the binocular distance measuring device and a corresponding distance value need to be measured, an accurate distance value cannot be obtained.
A method for reducing measurement data errors through data iteration, comprising the steps of:
firstly, measuring the distance between a fixed point A and a target mark point B by using binocular ranging equipment through a parallax ranging method, and obtaining a depth map, wherein a central point C of the binocular ranging equipment is coplanar with the fixed point A, and the distance between the central point C and the fixed point A is fixed.
The binocular distance measuring equipment can obtain the vertical distance from all pixels in the depth map to the plane where the lens of the binocular distance measuring equipment is located. According to the principle, the method aims to solve the point position drift error caused by the distance between the binocular ranging equipment and the measured fixed point A, so that the coordinates of the approximate point close to the target point in the depth map are found through a multi-iteration algorithm, and the corresponding thickness value of the approximate point in the depth map is the optimized accurate thickness value because the height change around the measured target point is smooth.
Secondly, as shown in fig. 1, shooting standard parts with various thicknesses through the binocular ranging equipment to obtain a test depth map, wherein the standard parts are a plurality of right cylinders with equal bottom surface radiuses and equally-changed thicknesses and serve as standard parts; fixing each right cylinder at the same position by taking any circular surface as the bottom, shooting a depth map of each right cylinder by using binocular ranging equipment, wherein the circle center of the upper circular surface of each right cylinder is perpendicular to the plane where two cameras of the binocular ranging equipment are located by the connecting line of the fixed point A and the circle center of the upper circular surface of each right cylinder. And finding the coordinates of the central point of the circular surface at the upper side of each right cylinder in the depth map of each right cylinder, and acquiring the corresponding thickness value of each central point coordinate in the depth map, thereby establishing a gradient comparison table of the corresponding central point coordinates under different thicknesses.
Thirdly, as shown in fig. 2, shooting the target by using the binocular ranging equipment, obtaining a target depth map, and determining the corresponding coordinate (i) of the fixed point A on the depth map where the target is located when the target thickness value is 00，j0) The coordinates (i)0，j0) Namely the projection point of the fixed point A on the background plate surface. Acquiring the coordinates (i)0，j0) Finding the corresponding thickness value D in the target depth map1(ii) a According to the thickness value D1Find the corresponding target point coordinate (i) in the gradient lookup table1，j1) This time is denoted as an iteration. Then find the coordinate (i) in the depth map1，j1) Corresponding thickness value D2(ii) a Then according to the thickness value D2Find the corresponding target point coordinate (i) in the gradient lookup table2，j2) Recording as a second iteration; repeating the above iterative method until D is reachednAnd Dn-1D is set when the corresponding coordinate space is smaller than the preset error valuenThis time is noted as n iterations as the exact thickness value. Wherein n is a natural number.
Example 2:
this embodiment is an application of the method of embodiment 1 to an X-ray imaging apparatus for obtaining an accurate thickness value of a target and adjusting an exposure parameter to perform accurate X-ray imaging. The X-ray imaging equipment comprises a movable sliding plate, a control circuit, a high-voltage generator, an X-ray bulb tube, a beam splitter and a flat panel detector arranged on the lower portion of the sliding plate, wherein the control circuit controls the high-voltage generator to provide electric energy for the X-ray bulb tube, so that the X-ray bulb tube emits X rays, the X rays can be accurately irradiated in a certain range through adjustment of the beam splitter, and finally the X rays penetrate through a human body and are received by the flat panel detector for digital imaging. And the equipment for detecting the thickness is binocular ranging equipment which is arranged on one side of the beam splitter. The specific thickness error optimization method comprises the following steps:
firstly, measuring the distance between a beam splitter cross central point A and a patient mark point B by adopting binocular ranging equipment through a parallax ranging method, and obtaining a depth map, wherein a central point C of the binocular ranging equipment is coplanar with the beam splitter cross central point A, and the distance value between the central point C and the beam splitter cross central point A is fixed.
Secondly, shooting standard parts with various thicknesses through the binocular ranging equipment to obtain a test depth map, wherein the standard parts are a plurality of right cylinders with equal bottom surface radiuses and equally-changed thicknesses and serve as standard parts; fixing each right cylinder at the same position by taking any circular surface as the bottom, shooting a depth map of each right cylinder by using binocular ranging equipment, wherein the connecting line of the circle center of the upper circular surface of each right cylinder and the cross center point A of the beam splitter is perpendicular to the plane where the two cameras of the binocular ranging equipment are located. And finding the coordinates of the central point of the circular surface at the upper side of each right cylinder in the depth map of each right cylinder, and acquiring the corresponding thickness value of each central point coordinate in the depth map, thereby establishing a gradient comparison table of the corresponding central point coordinates under different thicknesses.
Thirdly, shooting the target by using the binocular distance measuring equipment to obtain a target depth map, and determining the corresponding coordinate (i) of the cross central point A of the beam splitter on the depth map where the target is located when the target thickness value is 00，j0) The coordinates (i)0，j0) Namely the projection point of the cross center point A of the beam splitter on the background plate surface. Acquiring the coordinates (i)0，j0) Finding the corresponding thickness value D in the target depth map1(ii) a According to the thickness value D1Find the corresponding target point coordinate (i) in the gradient lookup table1，j1) This time is denoted as an iteration. Then find the coordinate (i) in the depth map1，j1) Corresponding thickness value D2(ii) a Then according to the thickness value D2Find the corresponding target point coordinate (i) in the gradient lookup table2，j2) Recording as a second iteration; repeating the above iterative method until D is reachednAnd Dn-1D is set when the corresponding coordinate space is smaller than the preset error valuenThis time is noted as n iterations as the exact thickness value. Wherein n is a natural number.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (6)
1. A method for reducing measurement data errors through data iteration, characterized by: the method comprises the following steps:
s1, firstly, measuring the distance between a fixed point A and a target mark point B by using binocular ranging equipment through a parallax ranging method, and obtaining a depth map, wherein a central point C of the binocular ranging equipment is coplanar with the fixed point A, and the distance value between the central point C and the fixed point A is fixed;
s2, shooting standard parts with various thicknesses through the binocular ranging equipment to obtain test depth maps, and establishing thickness values D according to all the test depth mapskCoordinate (i) in depth map with fixed point Ak，jk) The gradient comparison table of (1);
s3, shooting a target by using the binocular distance measuring equipment, obtaining a target depth map, and obtaining a thickness value D of the fixed point AkCorresponding coordinate (i) in the depth map at 00，j0) As a starting point, carrying out multiple iterations according to the established gradient comparison table to obtain an accurate thickness value;
the specific steps of step S3 are as follows:
(3.1) first, when the thickness value of the target is 0, determining the corresponding coordinate (i) of the fixed point A on the depth map where the target is located0，j0) The coordinates (i)0，j0) Namely the projection point of the fixed point A on the background plate surface;
(3.2) obtaining the coordinates (i)0，j0) Finding the corresponding thickness value D in the target depth map1，
(3.3) again according to the thickness value D1Find the corresponding target point coordinate (i) in the gradient lookup table1，j1) At this time, recording as one iteration;
(3.4) finding the newly found coordinate (i) in the depth mapn-1，jn-1) Corresponding thickness value DnThen according to the newly found thickness value DnFinding the corresponding target coordinate point (i) in the gradient comparison tablen，jn) At this time, the iteration is recorded as n times;
(3.5) when DnAnd Dn-1D is set when the corresponding coordinate space is smaller than the preset error valuenAs an accurate thickness value, n is a natural number greater than 1;
the specific steps of step S2 are as follows:
(2.1) firstly, preparing a plurality of right cylinders with equal base surface radius and equally-changed thickness as standard parts;
(2.2) fixing each right cylinder at the same position with any circular surface as the bottom, shooting a depth map of each right cylinder by using binocular ranging equipment, wherein the connecting line of the circle center of the upper circular surface of each right cylinder and the fixed point A is perpendicular to the plane where two cameras of the binocular ranging equipment are located;
(2.3) finding the central point coordinates of the circular surface at the upper side of each right cylinder in the depth map of each right cylinder, and acquiring the corresponding thickness value of each central point coordinate in the depth map, thereby establishing a gradient comparison table of the corresponding central point coordinates under different thicknesses.
2. A method for reducing measurement data errors by data iteration according to claim 1, characterized by: the fixed point A is the cross center of a beam splitter of the X-ray imaging equipment.
3. A method for reducing measurement data errors by data iteration according to claim 2, characterized by: and the measured accurate thickness value is used for determining a reference value of an exposure parameter of X-ray irradiation imaging of the target by the X-ray imaging equipment.
4. A method for reducing measurement data errors by data iteration according to claim 2, characterized by: the binocular distance measuring equipment is arranged in a beam light device of the X-ray imaging equipment.
5. A method for reducing measurement data errors by data iteration according to claim 1, characterized by: said DnWherein n is a natural number not greater than 2, i.e. the number of iterations does not exceed two.
6. A method for reducing measurement data errors by data iteration according to claim 2, characterized by: the distance between the central point C of the binocular distance measuring equipment and the beam light device is smaller than 1 cm.
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